RAPID reference manual - Technology

InstructionMoveCRobotWare-OSMoveC p5, p6, v2000, fine \Inpos := inpos50, grip3;The TCP of the tool, grip3, is moved circularly to a stop point p6. The robot considersit to be in the point when 50% of the position condition and 50% of thespeed condition for a stop point fine are satisfied. It waits at most for 2 secondsfor the conditions to be satisfied. See predefined data inpos50 of data type stoppointdata.MoveC \Conc, *, *, v500, z40, grip3;The TCP of the tool, grip3, is moved circularly to a position stored in the instruction.The circle point is also stored in the instruction. Subsequent logical instructionsare executed while the robot moves.MoveC cir1, p15, v500, z40, grip3 \WObj:=fixture;The TCP of the tool, grip3, is moved circularly to a position, p15, via the circlepoint cir1. These positions are specified in the object coordinate system for fixture.LimitationsThere are some limitations in how the CirPoint and the ToPoint can be placed, asshown in the figure below.xCirPoint0.1 mmxCirPointxstartx ToPointstartxx0.1 mmToPointxstartaa > 1 degreex CirPointxToPoint- Minimum distance between start and ToPoint is 0.1 mm- Minimum distance between start and CirPoint is 0.1 mm- Minimum angle between CirPoint and ToPoint from the start point is 1 degreeThe accuracy can be poor near the limits, e.g. if the start point and the ToPoint on thecircle are close to each other, the fault caused by the leaning of the circle can be muchgreater than the accuracy with which the points have been programmed.A change of execution mode from forward to backward or vice versa, while the robotis stopped on a circular path, is not permitted and will result in an error message.RAPID reference manual - part 1a, Instructions A-R 259